initctrectgmphd

Create constant turn-rate rectangular target gmphd filter

Since R2019b

Syntax

phd = initctrectgmphd

phd = initctrectgmphd(detections)

phd = initctrectgmphd(___,dataType)

Description

phd = initctrectgmphd initializes a constant turn-rate rectangular target gmphd filter with zero components in the filter. By default, the data type of the filter is double.

phd = initctrectgmphd(detections) initializes a constant turn-rate rectangular target gmphd filter based on information provided in object detections, detections. The data type of the filter is the same as the data type of measurement in the detections.

The function initializes a constant turn-rate rectangular state with the same convention as ctrect and ctrectmeas, [x y s θ ω L W]. See Algorithms for the meaning of these variables.

.

Note

This initialization function is not compatible with trackerGNN, trackerJPDA, and trackerTOMHT System objects.

phd = initctrectgmphd(___,dataType) specifies the data type of the filter as single or double.

Examples

Initialize gmphd for Rectangular Target

Load detections generated by a rectangular target and the corresponding truth.

load ('rectangularTargetDetections','detections','truthState');

Initialize the filter using detections.

phd = initctrectgmphd(detections);

Display the estimated state and the truth state.

estState = phd.States

estState = 7×1

   -0.0688
   49.2233
         0
         0
         0
    3.3942
    0.9871

truthState

truthState = 7×1

         0
   50.0000
         0
   30.0000
         0
    4.7000
    1.8000

Input Arguments

detections — Object detections

cell array of objectDetection objects

Object detections, specified as a cell array of objectDetection objects. You can create detections directly, or you can obtain detections from the outputs of sensor objects, such as radarSensor, monostaticRadarSensor, irSensor, and sonarSensor.

Example: detection = objectDetection(0,[1;4.5;3],'MeasurementNoise',[1.0 0 0; 0 2.0 0; 0 0 1.5])

dataType — Data type

"single" | "Double"

Data type of variables used in the filter, specified as "single" for single-precision and "Double" for double-precision. When specified as "single", the initialized filter does not use any double-precision variables.

Data Types: single | double

Output Arguments

phd — gmphd filter

gmphd object

Gaussian mixture PHD filter, returned as a gmphd object.

Algorithms

Initialization Process

• You can use initctrectgmphd as the FilterInitializationFcn property of trackingSensorConfiguration.

• When detections are provided as input, the function adds one component to the density, which reflects the mean of the detections. When the function is called without any inputs, a filter is initialized with no components in the density.

• The function uses the spread of measurements to specify the length and width of the rectangle.

• The function configures the process noise of the filter by assuming a unit acceleration and a unit yaw-acceleration standard deviation.

• The function specifies a maximum of 500 components in the filter.

• The function configures the covariance of the state using a unit covariance in observed dimensions.

Rectangular Target State

The rectangular target state contains [x; y; s;θ; ω; L; W]:

Variable	Meaning	Unit
x	Position of the rectangle center in x direction	m
y	Position of the rectangle center in y direction	m
s	Speed in the heading direction	m/s
θ	Orientation angle of the rectangle with respect to x direction	degree
ω	Turn-rate	degree/s
L	Length of the rectangle	m
W	Width of the rectangle	m

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2019b

R2022b: Specify data type of initialized filter object

You can use the new data type input argument to specify data type in the filter as single-precision or double-precision.